8 Operating the measuring device
9.5 CiA 406 (absolute linear encoder) device profile
9.5.4 Object 6005h – Linear Encoder Measuring
EtherCAT® interface
Setting a preset value automatically updates the object 6509h (offset value).
The value range of the preset is +300,000 mm. Negative values are not permitted, as per specification CiA 406. The data type of object 6003h is unsigned32.
Example 1 • Display distance value: 300 mm
• Input preset: +100 mm
• Distanceoffset = Distancepreset– Distancemeasurement = 100 mm –300 mm = –200 mm
• Distanceout = Distancemeasurement + Distanceoffset = 300 mm + (–200 mm) = 100 mm
Example 2 • Display distance value: 300 mm
• Input preset: +300,000 mm
• Distanceoffset = Distancepreset – Distancemeasurement = 300,000 mm –300 mm = 299,700 mm
• Distanceout = Distancemeasurement + Distanceoffset = 300 mm +299,700 mm = 300,000 mm
9.5.3 Object 6004h – Position Value
The manufacturer-specific object 2000h must be used in order to repre-sent negative values. The manufacturer-specific object 2000h (Distance) is mapped onto the object 6004h.
As per specification CiA 406, the data type of the “Position Value” object is uInt32 and can only contain positive values. If there is a negative value, the object 6004h is assigned the value of 0. The SIGNED32 value is cast to a uInt_fast32_t value.
9.5.4 Object 6005h – Linear Encoder Measuring Step Settings
This object has the same functionality as object 4000h. The difference is that any resolution can be specified between the lowest and the highest resolution.
Subindex Name Description
0h Linear Encoder Measuring
Step Settings Specification of the number of subindices within the object 6005h.
1h Position Measuring Step Specified as a multiple of 1 nm.
• Smallest resolution (default): 1/10 mm => 0.1 mm / 1 nm = 100,000
• Lowest resolution: 100 mm => 100 mm / 1 nm = 100,000,000 2h Speed Measuring Steps Specified as a multiple of 0.01 mm/s
• Lowest resolution (default): 1/10 mm/s => 0.1 mm/s / 0.01 mm/s = 10
• Highest resolution: 100 mm/s => 100 mm/s / 0.01 mm/s = 10,000
EtherCAT® interface 9.5.5 Object 6030h – Speed Value
Subindex Name Description
0h Number of Available
Channels Specification of available channels
1h Speed Value Channel 1 The manufacturer-specific object 2001h (Average Velocity) is mapped onto the object 6030h.
As per specification CiA 406 V3.2.0, the data type of the object “Speed Value” is Int16. The INTEGER32 value is cast to a Int_fast16_t value. The border areas are capped.
9.5.6 Object 6500h – Operating Status
This is a copy of object 6000h.
9.5.7 Object 6501h – Single-turn Resolution and Measuring Step
Resolution specified as a multiple of 1 nm. For example, a resolution of 1 mm corresponds to 1,000,000
.
9.5.8 Object 6502h – Number of Distinguishable Revolutions
For linear encoders, i.e., also for the DL100 Pro, this value is always “1”
. 9.5.9 Object 6507h – Profile and Software Version
Byte 3–2: Application controller version, byte 1–0: 406 encoder profile version. The currently published version of the encoder profile 406 of the CiA is 3.2.0.
The current status of a work draft is indicated by the third digit. If the third digit is 0, it is a published version
.
9.5.10 Object 6508h – Operating Time
Operating hours specified as a multiple of 0.1 h, e.g., 1 h of operation equates to 10 * 0.1 h. Object 6508h corresponds to object 4005h. 4005h is mapped onto 6508h
.
9.5.11 Object 6509h – Offset Value
By default, the offset value is 0. If a preset is specified via object 6003h
“Preset Value”, the object 6509h is updated automatically as follows:
Distanceoffset = Distancepreset – Distancemeasurement.
The new offset value must be saved.
Cleaning and maintenance
10 Cleaning and maintenance
10.1 Cleaning
WARNING!
Device damage due to improper cleaning!
Improper cleaning may result in device damage.
For this reason:
• Never use cleaning agents containing aggressive substances.
• Never use sharp objects for cleaning.
Clean the front screens at regular intervals with a lint-free cloth and plastic cleaning agent.
The cleaning interval essentially depends on the ambient conditions.
10.2 Maintenance
The DL100 Pro distance measuring device requires the following mainte-nance work at regular intervals:
Interval Maintenance work To be performed by
Cleaning interval depends on ambient conditions and climate
Clean housing. Specialist
Every 6 months Check the screw connections and plug connectors. Specialist Table 23: Maintenance schedule
Troubleshooting
11 Troubleshooting
Possible errors and corrective actions are described in the table below for troubleshooting.
In the case of faults that cannot be rectified using the description below, please contact the manufacturer. See the back page for relevant contact details.
General faults, warnings, and errors The distance measuring device can distinguish between general faults, warnings, and errors. General faults are not indicated. In case of a warning, the PWR LED begins flashing orange. A measured value is output. If there is an error pending, the PWR LED begins flashing red. The measured value
“0” is output.
11.1 Warning messages
Display Meaning/possible causes Troubleshooting
NoWrn No warning –
wPlb Measured value not plausible.
Light path between the measuring device and the reflector interrupted.
Observe the light spot on the reflector. The light spot must not drift from the reflector. If necessary, realign the measuring device and reflector or use a larger reflector.
→ For alignment and mounting, see Page 24, Chapter 6.
Optical interference • Remove any optical interference.
• Realign the measuring device and reflec-tor. → For alignment and mounting, see Page 24, Chapter 6.
wLaser The measurement laser is still ready for
op-eration but is at the end of its service life. Keep a replacement device ready for use.
wLevel The current attenuation value is below the recommended attenuation value. The recom-mended attenuation value depends on the distance between the measuring device and the reflector. → For recommended attenua-tion values, see Page 29, Table 5.
• Clean the optical interfaces like the reflec-tor and the lens.
• Reduce the distance between the measur-ing device and the reflector.
• Use a distance measuring device with a larger scanning range. → See Page 76, Chapter 14
wTemp The internal temperature of the device is ap-proaching the limit of the permissible range.
→ For the permissible ambient temperature, see Page 75, Chapter 13.8.
• Check the ambient temperature. Provide better ventilation if necessary.
• Shield the device from radiated heat, e.g., shade the measuring device from direct sunlight.
• At low ambient temperatures, use a heat-ing system for the device.
• At high ambient temperatures, use a cooling housing.
Table 24: Warning messages
Troubleshooting
11.2 Error messages
Display Meaning/possible causes Troubleshooting
NoErr No error –
ePlb Measured value not plausible.
Light path between the measuring device and the reflector interrupted.
Observe the light spot on the reflector. The light spot must not drift from the reflector. If necessary, realign the measuring device and reflector or use a larger reflector.
→ For alignment and mounting, see Page 24, Chapter 6.
Optical interference • Remove any optical interference.
• Realign the measuring device and reflec-tor. → For alignment and mounting, see Page 24, Chapter 6.
eLaser The service life of the measurement laser
has been exceeded. Replace the measuring device.
eLevel The current attenuation value is below the warning threshold. The warning threshold depends on the distance between the mea-suring device and the reflector.
→ For recommended attenuation values, see Page 29, Table 5.
• Clean the optical interfaces like the reflec-tor and the lens.
• Reduce the distance between the measur-ing device and the reflector.
• Use a distance measuring device with a larger scanning range. → See Page 76, Chapter 14.
eTemp The internal temperature of the device is outside the permissible range.
→ For the permissible ambient temperature, see Page 75, Chapter 13.8.
• Check the ambient temperature. Provide better ventilation if necessary.
• Shield the device from radiated heat, e.g., shade the measuring device from direct sunlight.
• At low ambient temperatures, use a heat-ing system for the device.
• At high ambient temperatures, use a cooling housing.
Table 25: Error messages
11.3 Returns
To enable efficient processing and allow us to determine the cause quickly, please include the following when making a return:
• Details of a contact person
• A description of the application
• A description of the fault that occurred
11.4 Disposal
Please observe the following when disposing of the device:
Repair
12 Repair
Repairs may only be carried out by the manufacturer. Any interruption or modification of the device will invalidate the manufacturer warranty.
13 Technical data
NOTE!
You can download, save, and print the relevant data sheet for your distance measuring device, including tech-nical data, dimensions, and connection diagrams from
“www.sick.com/dl100”.
All dimensions in mm (inch) Fig. 25: Dimensions of the DL100 Pro distance measuring device
1 Sender optical axis 2 Receiver optical axis 3 Device zero point
4 M5 threaded mounting hole 5 “Status” LED
6 Display
7 Operating elements
Technical data 13.2 Laser/optics
Light sender Laser diode, red light
Laser protection class 2 in accordance with EN 60825-1 / CDRH
CW modulation ± 0.85 Po sinusoidally modulated
Maximum output ≤ 1.9 mW
Pulse duration 6.8 ns
Wavelength 655 nm
Frequency ≥ 90 MHz
light spot size Typically 5 mm + (2 mm x distance [m]) Table 26: Laser/optics
13.3 Performance data
Measuring ranges • DL100-21xx2211: 0.15 m … 100 m
• DL100-22xx2211: 0.15 m … 200 m
• DL100-23xx2211: 0.15 m … 300 m
Accuracy • Measuring range 0.15 m … 100 m: ± 2.0 mm
• Measuring range 0.15 m … 200 m: ± 2.5 mm
• Measuring range 0.15 m … 300 m: ± 3.0 mm
Reproducibility • Measuring range 0.15 m … 100 m: 0.5 mm
• Measuring range 0.15 m … 200 m: 1.0 mm
• Measuring range 0.15 m … 300 m: 2.0 mm Initialization time • Typically 1.5 s
• After reflector loss: < 40 ms
Resolution Adjustable: 0.1 mm / 0.125 mm / 1.0 mm / 10 mm / 100 mm / free resolution
Table 27: Performance data
13.4 Supply
Supply voltage UV 18 V DC .. 30 V DC
Current consumption • Without heating: < 250 mA at 24 V DC
• With heating: < 1000 mA at 24 V DC Residual ripple < 5 Vss within the permissible supply voltage UV Table 28: Supply
Technical data 13.5 Inputs
Inputs MF1 multifunctional input, adjustable
• Hi > 12 V
• Lo < 3 V
→ See Page 44, Table 13, parameter “ActStat”.
Circuit protection None; no reverse-polarity protection.
Table 29: Inputs
13.6 Outputs
Outputs MF1 and MF2 multifunctional outputs, type B (push/pull), adjustable
• Hi > UV –3 V
• Lo < 2 V
→ See Page 44, Table 13 and Page 50, Table 18, parameter
“ActStat”.
Maximum output current Max. 100 mA
Output load • Capacitive: 100 nF
• Inductive: 20 mH Table 30: Outputs
13.7 Interfaces
Data interface EtherCAT®
Data transmission rate 100 Mbps, full duplex Table 31: Interfaces
Technical data 13.8 Ambient conditions
Protection class III
For operation in PELV (protective extra low voltage) systems with safe separation.
Electromagnetic compatibility 1) EN 61000-6-2, EN 55011, Class A Ambient temperature range See type-specific data
→ See Page 109, Table 69.
Storage temperature range –40 °C … +75 °C
Enclosure rating IP65
Effect of air pressure 0.3 ppm/hPa
Effect of temperature 1 ppm/K
Temperature drift Typically 0.1 mm/K
Maximum traversing speed 30 m/s
Maximum change in acceleration 15 m/s² Vibration resistance (sine) EN60068-2-6
Noise EN60068-2-64
Shock resistance EN 60086-2-27
1) The device may cause interference if used in a residential environment.
Table 32: Ambient conditions
13.9 Structural design
Dimensions → See Page 72, Chapter 13.1.
Weight • Distance measuring device: 800 g
• Alignment bracket (optional): 800 g
Materials • Housing: Cast aluminum GD-AlSi12Cu1 (3.2982.05)
• Front screen: PMMA
Connections M12, SpeedCon™
Display • 6-digit with a 5 x 7 dot matrix
• Overflows are indicated by the maximum value that can be displayed, –99,999 or 999,999.
Table 33: Structural design
Accessories
14 Accessories
14.1 Reflectors and reflective tape
14.1.1 Reflectors
Fig. 26: Reflector 0.3 x 0.3 m², Diamond Grade, mounted
Description Reflector 0.3 x 0.3 m² Diamond Grade, mounted to ALMG3 base plate
Type PL240DG
Part no. 1017910
Fig. 27: Reflector 0.6 x 0.6 m² Diamond Grade, mounted
Description Reflector 0.6 x 0.6 m² Diamond Grade, mounted to ALMG3 base plate
Type PL560DG
Accessories
Fig. 28: Reflector 1.0 x 1.0 m² Diamond Grade, mounted
Description Reflector 1.0 x 1.0 m² Diamond Grade, mounted to ALMG3 base plate
Type PL880DG
Part no. 1018975
Silicon wire 2 m,
3 x 0.75 mm2, open ending
Fig. 29: Reflector 0.3 x 0.3 m² Diamond Grade, mounted, including heating Description Reflector 0.3 x 0.3 m² Diamond Grade, mounted to ALMG3 base plate,
including controlled heating +20 °C, 230 V AC, 200 W, IP64
Type PL240DG-H
Part no. 1022926
Accessories
Silicon wire 2 m,
3 x 0.75 mm2, open ending Fig. 30: Reflector 0.6 x 0.6 m² Diamond Grade, mounted, including heating Description Reflector 0.6 x 0.6 m² Diamond Grade, mounted to ALMG3 base plate,
including controlled heating +20 °C, 230 V AC, 200 W, IP64
Type PL560DG-H
Part no. 1023888
14.1.2
Reflective tape
Fig. 31: Diamond Grade reflective tape
Description Diamond Grade reflective tape, customizable size
Type REF-DG
Part no. 4019634
Description Diamond Grade reflective tape, 749 x 914 mm² sheet
Type REF-DG
Part no. 5320565
Accessories
14.2 Plug connectors and cables
14.2.1 Connection cables with M12 male connector, straight, to M12 male connector, straight
Description Type Part no.
Connection cable, Ethernet patch cable, 2 m, M12 male connector,
straight and 4-pin, D-coded, to M12 male connector, straight SSL-1204-G02MZ90 6048241 Connection cable, Ethernet patch cable, 5 m, M12 male connector,
straight and 4-pin, D-coded, to M12 male connector, straight SSL-1204-G05MZ90 6048242 Connection cable, Ethernet patch cable, 10 m, M12 male connector,
straight and 4-pin, D-coded, to M12 male connector, straight SSL-1204-G10MZ90 6048243
14.2.2 Connection cables with M12 male connector, angled, to M12 male connector, straight
Description Type Part no.
Connection cable, Ethernet patch cable, 2 m, M12 male connector,
angled and 4-pin, D-coded, to M12 male connector, straight SSL-1204-F02MZ90 6048250 Connection cable, Ethernet patch cable, 5 m, M12 male connector,
angled and 4-pin, D-coded, to M12 male connector, straight SSL-1204-F05MZ90 6048251 Connection cable, Ethernet patch cable, 10 m, M12 male connector,
angled and 4-pin, D-coded, to M12 male connector, straight SSL-1204-F10MZ90 6048252
14.2.3 Connection cables with M12 male connector, straight, to RJ45 connector, straight
Description Type Part no.
Connection cable, Ethernet patch cable, 2 m, M12 male connector,
straight and 4-pin, D-coded, to RJ45 male connector, straight SSL-2J04-G02MZ90 6048244 Connection cable, Ethernet patch cable, 5 m, M12 male connector,
straight and 4-pin, D-coded, to RJ45 male connector, straight SSL-2J04-G05MZ90 6048245 Connection cable, Ethernet patch cable, 10 m, M12 male connector,
straight and 4-pin, D-coded, to RJ45 male connector, straight SSL-2J04-G10MZ90 6048246
14.2.4 Connection cables with M12 male connector, angled, to RJ45 connector
Description Type Part no.
Connection cable, Ethernet patch cable, 2 m, M12 male connector,
angled and 4-pin, D-coded, to RJ45 connector SSL-2J04-F02MZ90 6048253
Connection cable, Ethernet patch cable, 5 m, M12 male connector,
angled and 4-pin, D-coded, to RJ45 connector SSL-2J04-F05MZ90 6048254
Connection cable, Ethernet patch cable, 10 m, M12 male connector,
angled and 4-pin, D-coded, to RJ45 connector SSL-2J04-F10MZ90 6048255
Accessories
14.2.5 M12 male connector, straight with cable, open end
Description Type Part no.
M12 male connector, straight, 4-pin, D-coded, 2 m cable, open end STL-1204-G02MZ90 6048247 M12 male connector, straight, 4-pin, D-coded, 5 m cable, open end STL-1205-G05MZ90 6048248 M12 male connector, straight, 4-pin, D-coded, 10 m cable, open end STL-1210-G10MZ90 6048249
14.2.6 M12 male connector, angled with cable, open end
Description Type Part no.
M12 male connector, angled, 4-pin, D-coded, 2 m cable, open end STL-1204-W02MZ90 6048256 M12 male connector, angled, 4-pin, D-coded, 5 m cable, open end STL-1204-W05MZ90 6048257 M12 male connector, angled, 4-pin, D-coded, 10 m cable, open end STL-1204-W10MZ90 6048258 M12 male connector, angled, 4-pin, D-coded, 25 m cable, open end STL-1204-W25MZ90 6048259
Accessories
14.3 Mounting systems
130.8 (5.15)
75.7 (2.98)
85.3 (3.36)
max. 120.8 (4.76)
126 (4.96)
126 (4.96)
Ø 5.4 (0.21)
5 (0.20)5 (0.20)5 (0.20)5 (0.20) 48 (1.89)48 (1.89)12.7 (0.50)
137 (5.39)
14.5 (0.57)
All dimensions in mm (inch) Fig. 32: Alignment bracket
Description Alignment bracket
Type BEF-AH-DX100
Part no. 2058653
Material Galvanized sheet steel
Accessories
14.4 Other accessories
235 (9.25)
135 (5.31) 305 (12.01)
345 (13.58)
154 (6.06)
51.5°
51.5
°
R74
M10
10.5 (0.41)26 (1.02) All dimensions in mm (inch)
Fig. 33: Cooler housing
Description Cooler housing
Type TPCC-Dx100
Part no. 6048328
Material Glass fiber reinforced plastic (GFRP)
Ambient operating temperature –20 °C … +75 °C (temporarily +80 °C)
Supply voltage 24 V DC ± 20%
Current consumption 15 A at 24 V DC
Menu structure
15 Menu structure
SwVers HwVers
ActSta Functn
Dist Speed Srvice LsrOff Preset
Count Choose option Choose option
Display only when MFxOn: Enable
MFxOn Offset SpecFu
Level Bargraph Level num. Temperature Warning Error
2 s
Enter value
see see see
see Display only when more?: Yes
1 2 3
Choose option Display only *
see
* Display as ticker
* Display as ticker Measurement
value
Menu structure
WrnLsr WrnLvl WrnTemp WrnPlb NotRdy
Heat
AvgDst AvgSpd MsrDir
Heat
Reset SpecFu
FreqSet
Choose option Choose option Choose option Enter value Choose option Sure?Sure?
OK
only versions
DL100-2xHx2212 only versions DL100-2xxB2212
Srvice
Choose option Choose option Choose option Choose option Choose option Choose option
Limit Hyst
Dist
Choose option
Limit Sign
Speed
Enter value
sPrset Preset
Enter value
Choose option Enter value
4 4 4
4 3
ErrRej
Choose option
Index
A
Accessories... 76
Alignment bracket ... 81
Cooler housing ... 82
Miscellaneous ... 82
Plug connectors and cables ... 79
Reflectors ... 76
Alignment ... 29
Distance measuring device and reflector ... 29
Using the alignment bracket ... 32
Alignment bracket Mounting ... 30
Alignment bracket (accessories) ... 81
Ambient conditions ... 75
Attenuation Nominal level ... 29
Warning limit ... 29
C Changes ... 13
CiA 406 device profile ... 64
Cleaning ... 68
Customer service ... 10
D Device selection ... 76
Dimensions Alignment bracket ... 81
Distance measuring device ... 72
Display ... 20
Disposal ... 70
E Electrical connection... 33
Electrical specialists ... 13
Environmental protection ... 11
Error messages ... 70
EtherCAT® ... 54
EU declaration of conformity ... 10
F Factory setting ... 53
H Hazard warnings ... 15
I Identification ... 16
Improper use ... 12
Inputs ... 74
Intended use ... 12
Interfaces ... 74
L Laser ... 73
Laser radiation ...14, 15 Laser radiation warning sign ... 14
LEDs ... 19
MF1/2 ... 19
Limitation of liability ... 10
M Maintenance ... 68
Menu structure ... 83
Minimum distance ... 26
Mounting ... 24
Alignment ... 29
Alignment bracket ... 30
Alignment bracket and distance measuring device ... 30
Distance measuring device ... 30
Distance measuring device and adjacent data transmission photoelectric sensor ... 28
Minimum distance...26, 27 Multiple distance measuring devices ... 26
Notes ... 24
Procedure ... 24
Reflector ... 25
Mounting systems ... 81
O Object 6000h – Operating Parameters ... 65
6003h – Preset Value ... 65
6004h – Position Value ... 66
6005h – Linear Encoder Measuring Step Settings ... 66
6030h – Speed Value ... 67
6500h – Operating Status ... 67 6501h – Single-turn Resolution and
Index
Index
6509h – Offset Value ... 67
Operating elements... 18
Operating instructions ...8
Operating modes ... 20
Operating personnel Requirements ... 13
Operation ... 39
Changing a value ... 40
On the measuring device ... 39
Selecting an option ... 40
Selecting parameters ... 39
Operational safety ...13, 15 Outputs ... 74
P Parameter description ... 41
Dist (MF1) ... 45
Performance data ... 73
Plug connectors and cables (accessories) ... 79
Preset Description ... 48
Pushbuttons ... 20
Q Qualified personnel ... 13
Requirements ... 13
R Reflective tape ... 78
Reflector
Electrical connection ... 33
Scope of delivery ... 10
Status indicators ... 18
Storage ... 23
Structural design ... 75
Structure ... 17
Supply ... 73
T Technical data ... 71
Trained personnel ... 13
Transport ... 22
Transport inspection ... 22
Troubleshooting ... 69
Type code ... 76
Type label ... 16
U UL safety notes ...7
W Warning messages ... 69
Wiring instructions ... 33
8023160/en/2018-06-12
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